Detecting Collisions

    Hello everyone,


    I was wondering if it is possible to read somewhere programmatically (e.g. in a system variable) the current disturbance torque on robot axes?
    Or maybe just read somewhere if i am in SRVO-053 Disturbance excess condition?


    Thanks

    You can also use these variables to backdoor the CLSKP (Collision Skip, now known as 'Touch Skip') option without getting the PAC (Only $550, but if you're in a jam and need to figure it out asap without waiting for FANUC). But, on newer 8.1 and higher software, it won't work.

    Thanks for the answers, anyway I've found those system variables that seems to show exactly what I need.
    $MOR_GRP[1].$cur_dis_trq[n]

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